00001
00002 #ifndef HEAD_MONITOR_MSGS_MESSAGE_PREPLANHEADSCANGOAL_H
00003 #define HEAD_MONITOR_MSGS_MESSAGE_PREPLANHEADSCANGOAL_H
00004 #include <string>
00005 #include <vector>
00006 #include <map>
00007 #include <ostream>
00008 #include "ros/serialization.h"
00009 #include "ros/builtin_message_traits.h"
00010 #include "ros/message_operations.h"
00011 #include "ros/time.h"
00012
00013 #include "ros/macros.h"
00014
00015 #include "ros/assert.h"
00016
00017 #include "arm_navigation_msgs/MotionPlanRequest.h"
00018
00019 namespace head_monitor_msgs
00020 {
00021 template <class ContainerAllocator>
00022 struct PreplanHeadScanGoal_ {
00023 typedef PreplanHeadScanGoal_<ContainerAllocator> Type;
00024
00025 PreplanHeadScanGoal_()
00026 : group_name()
00027 , head_monitor_link()
00028 , motion_plan_request()
00029 {
00030 }
00031
00032 PreplanHeadScanGoal_(const ContainerAllocator& _alloc)
00033 : group_name(_alloc)
00034 , head_monitor_link(_alloc)
00035 , motion_plan_request(_alloc)
00036 {
00037 }
00038
00039 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _group_name_type;
00040 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > group_name;
00041
00042 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _head_monitor_link_type;
00043 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > head_monitor_link;
00044
00045 typedef ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> _motion_plan_request_type;
00046 ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> motion_plan_request;
00047
00048
00049 private:
00050 static const char* __s_getDataType_() { return "head_monitor_msgs/PreplanHeadScanGoal"; }
00051 public:
00052 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00053
00054 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00055
00056 private:
00057 static const char* __s_getMD5Sum_() { return "565652fd52e32966cc5c599108653bf9"; }
00058 public:
00059 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00060
00061 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00062
00063 private:
00064 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00065 # The motion plan request\n\
00066 string group_name\n\
00067 string head_monitor_link\n\
00068 arm_navigation_msgs/MotionPlanRequest motion_plan_request\n\
00069 \n\
00070 ================================================================================\n\
00071 MSG: arm_navigation_msgs/MotionPlanRequest\n\
00072 # This service contains the definition for a request to the motion\n\
00073 # planner and the output it provides\n\
00074 \n\
00075 # Parameters for the workspace that the planner should work inside\n\
00076 arm_navigation_msgs/WorkspaceParameters workspace_parameters\n\
00077 \n\
00078 # Starting state updates. If certain joints should be considered\n\
00079 # at positions other than the current ones, these positions should\n\
00080 # be set here\n\
00081 arm_navigation_msgs/RobotState start_state\n\
00082 \n\
00083 # The goal state for the model to plan for. The goal is achieved\n\
00084 # if all constraints are satisfied\n\
00085 arm_navigation_msgs/Constraints goal_constraints\n\
00086 \n\
00087 # No state at any point along the path in the produced motion plan will violate these constraints\n\
00088 arm_navigation_msgs/Constraints path_constraints\n\
00089 \n\
00090 # The name of the motion planner to use. If no name is specified,\n\
00091 # a default motion planner will be used\n\
00092 string planner_id\n\
00093 \n\
00094 # The name of the group of joints on which this planner is operating\n\
00095 string group_name\n\
00096 \n\
00097 # The number of times this plan is to be computed. Shortest solution\n\
00098 # will be reported.\n\
00099 int32 num_planning_attempts\n\
00100 \n\
00101 # The maximum amount of time the motion planner is allowed to plan for\n\
00102 duration allowed_planning_time\n\
00103 \n\
00104 # An expected path duration (in seconds) along with an expected discretization of the path allows the planner to determine the discretization of the trajectory that it returns\n\
00105 duration expected_path_duration\n\
00106 duration expected_path_dt\n\
00107 \n\
00108 ================================================================================\n\
00109 MSG: arm_navigation_msgs/WorkspaceParameters\n\
00110 # This message contains a set of parameters useful in\n\
00111 # setting up the workspace for planning\n\
00112 arm_navigation_msgs/Shape workspace_region_shape\n\
00113 geometry_msgs/PoseStamped workspace_region_pose\n\
00114 \n\
00115 \n\
00116 ================================================================================\n\
00117 MSG: arm_navigation_msgs/Shape\n\
00118 byte SPHERE=0\n\
00119 byte BOX=1\n\
00120 byte CYLINDER=2\n\
00121 byte MESH=3\n\
00122 \n\
00123 byte type\n\
00124 \n\
00125 \n\
00126 #### define sphere, box, cylinder ####\n\
00127 # the origin of each shape is considered at the shape's center\n\
00128 \n\
00129 # for sphere\n\
00130 # radius := dimensions[0]\n\
00131 \n\
00132 # for cylinder\n\
00133 # radius := dimensions[0]\n\
00134 # length := dimensions[1]\n\
00135 # the length is along the Z axis\n\
00136 \n\
00137 # for box\n\
00138 # size_x := dimensions[0]\n\
00139 # size_y := dimensions[1]\n\
00140 # size_z := dimensions[2]\n\
00141 float64[] dimensions\n\
00142 \n\
00143 \n\
00144 #### define mesh ####\n\
00145 \n\
00146 # list of triangles; triangle k is defined by tre vertices located\n\
00147 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00148 int32[] triangles\n\
00149 geometry_msgs/Point[] vertices\n\
00150 \n\
00151 ================================================================================\n\
00152 MSG: geometry_msgs/Point\n\
00153 # This contains the position of a point in free space\n\
00154 float64 x\n\
00155 float64 y\n\
00156 float64 z\n\
00157 \n\
00158 ================================================================================\n\
00159 MSG: geometry_msgs/PoseStamped\n\
00160 # A Pose with reference coordinate frame and timestamp\n\
00161 Header header\n\
00162 Pose pose\n\
00163 \n\
00164 ================================================================================\n\
00165 MSG: std_msgs/Header\n\
00166 # Standard metadata for higher-level stamped data types.\n\
00167 # This is generally used to communicate timestamped data \n\
00168 # in a particular coordinate frame.\n\
00169 # \n\
00170 # sequence ID: consecutively increasing ID \n\
00171 uint32 seq\n\
00172 #Two-integer timestamp that is expressed as:\n\
00173 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00174 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00175 # time-handling sugar is provided by the client library\n\
00176 time stamp\n\
00177 #Frame this data is associated with\n\
00178 # 0: no frame\n\
00179 # 1: global frame\n\
00180 string frame_id\n\
00181 \n\
00182 ================================================================================\n\
00183 MSG: geometry_msgs/Pose\n\
00184 # A representation of pose in free space, composed of postion and orientation. \n\
00185 Point position\n\
00186 Quaternion orientation\n\
00187 \n\
00188 ================================================================================\n\
00189 MSG: geometry_msgs/Quaternion\n\
00190 # This represents an orientation in free space in quaternion form.\n\
00191 \n\
00192 float64 x\n\
00193 float64 y\n\
00194 float64 z\n\
00195 float64 w\n\
00196 \n\
00197 ================================================================================\n\
00198 MSG: arm_navigation_msgs/RobotState\n\
00199 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00200 sensor_msgs/JointState joint_state\n\
00201 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00202 \n\
00203 ================================================================================\n\
00204 MSG: sensor_msgs/JointState\n\
00205 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00206 #\n\
00207 # The state of each joint (revolute or prismatic) is defined by:\n\
00208 # * the position of the joint (rad or m),\n\
00209 # * the velocity of the joint (rad/s or m/s) and \n\
00210 # * the effort that is applied in the joint (Nm or N).\n\
00211 #\n\
00212 # Each joint is uniquely identified by its name\n\
00213 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00214 # in one message have to be recorded at the same time.\n\
00215 #\n\
00216 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00217 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00218 # effort associated with them, you can leave the effort array empty. \n\
00219 #\n\
00220 # All arrays in this message should have the same size, or be empty.\n\
00221 # This is the only way to uniquely associate the joint name with the correct\n\
00222 # states.\n\
00223 \n\
00224 \n\
00225 Header header\n\
00226 \n\
00227 string[] name\n\
00228 float64[] position\n\
00229 float64[] velocity\n\
00230 float64[] effort\n\
00231 \n\
00232 ================================================================================\n\
00233 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00234 #A representation of a multi-dof joint state\n\
00235 time stamp\n\
00236 string[] joint_names\n\
00237 string[] frame_ids\n\
00238 string[] child_frame_ids\n\
00239 geometry_msgs/Pose[] poses\n\
00240 \n\
00241 ================================================================================\n\
00242 MSG: arm_navigation_msgs/Constraints\n\
00243 # This message contains a list of motion planning constraints.\n\
00244 \n\
00245 arm_navigation_msgs/JointConstraint[] joint_constraints\n\
00246 arm_navigation_msgs/PositionConstraint[] position_constraints\n\
00247 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\
00248 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\
00249 \n\
00250 ================================================================================\n\
00251 MSG: arm_navigation_msgs/JointConstraint\n\
00252 # Constrain the position of a joint to be within a certain bound\n\
00253 string joint_name\n\
00254 \n\
00255 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
00256 float64 position\n\
00257 float64 tolerance_above\n\
00258 float64 tolerance_below\n\
00259 \n\
00260 # A weighting factor for this constraint\n\
00261 float64 weight\n\
00262 ================================================================================\n\
00263 MSG: arm_navigation_msgs/PositionConstraint\n\
00264 # This message contains the definition of a position constraint.\n\
00265 Header header\n\
00266 \n\
00267 # The robot link this constraint refers to\n\
00268 string link_name\n\
00269 \n\
00270 # The offset (in the link frame) for the target point on the link we are planning for\n\
00271 geometry_msgs/Point target_point_offset\n\
00272 \n\
00273 # The nominal/target position for the point we are planning for\n\
00274 geometry_msgs/Point position\n\
00275 \n\
00276 # The shape of the bounded region that constrains the position of the end-effector\n\
00277 # This region is always centered at the position defined above\n\
00278 arm_navigation_msgs/Shape constraint_region_shape\n\
00279 \n\
00280 # The orientation of the bounded region that constrains the position of the end-effector. \n\
00281 # This allows the specification of non-axis aligned constraints\n\
00282 geometry_msgs/Quaternion constraint_region_orientation\n\
00283 \n\
00284 # Constraint weighting factor - a weight for this constraint\n\
00285 float64 weight\n\
00286 \n\
00287 ================================================================================\n\
00288 MSG: arm_navigation_msgs/OrientationConstraint\n\
00289 # This message contains the definition of an orientation constraint.\n\
00290 Header header\n\
00291 \n\
00292 # The robot link this constraint refers to\n\
00293 string link_name\n\
00294 \n\
00295 # The type of the constraint\n\
00296 int32 type\n\
00297 int32 LINK_FRAME=0\n\
00298 int32 HEADER_FRAME=1\n\
00299 \n\
00300 # The desired orientation of the robot link specified as a quaternion\n\
00301 geometry_msgs/Quaternion orientation\n\
00302 \n\
00303 # optional RPY error tolerances specified if \n\
00304 float64 absolute_roll_tolerance\n\
00305 float64 absolute_pitch_tolerance\n\
00306 float64 absolute_yaw_tolerance\n\
00307 \n\
00308 # Constraint weighting factor - a weight for this constraint\n\
00309 float64 weight\n\
00310 \n\
00311 ================================================================================\n\
00312 MSG: arm_navigation_msgs/VisibilityConstraint\n\
00313 # This message contains the definition of a visibility constraint.\n\
00314 Header header\n\
00315 \n\
00316 # The point stamped target that needs to be kept within view of the sensor\n\
00317 geometry_msgs/PointStamped target\n\
00318 \n\
00319 # The local pose of the frame in which visibility is to be maintained\n\
00320 # The frame id should represent the robot link to which the sensor is attached\n\
00321 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\
00322 geometry_msgs/PoseStamped sensor_pose\n\
00323 \n\
00324 # The deviation (in radians) that will be tolerated\n\
00325 # Constraint error will be measured as the solid angle between the \n\
00326 # X axis of the frame defined above and the vector between the origin \n\
00327 # of the frame defined above and the target location\n\
00328 float64 absolute_tolerance\n\
00329 \n\
00330 \n\
00331 ================================================================================\n\
00332 MSG: geometry_msgs/PointStamped\n\
00333 # This represents a Point with reference coordinate frame and timestamp\n\
00334 Header header\n\
00335 Point point\n\
00336 \n\
00337 "; }
00338 public:
00339 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00340
00341 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00342
00343 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00344 {
00345 ros::serialization::OStream stream(write_ptr, 1000000000);
00346 ros::serialization::serialize(stream, group_name);
00347 ros::serialization::serialize(stream, head_monitor_link);
00348 ros::serialization::serialize(stream, motion_plan_request);
00349 return stream.getData();
00350 }
00351
00352 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00353 {
00354 ros::serialization::IStream stream(read_ptr, 1000000000);
00355 ros::serialization::deserialize(stream, group_name);
00356 ros::serialization::deserialize(stream, head_monitor_link);
00357 ros::serialization::deserialize(stream, motion_plan_request);
00358 return stream.getData();
00359 }
00360
00361 ROS_DEPRECATED virtual uint32_t serializationLength() const
00362 {
00363 uint32_t size = 0;
00364 size += ros::serialization::serializationLength(group_name);
00365 size += ros::serialization::serializationLength(head_monitor_link);
00366 size += ros::serialization::serializationLength(motion_plan_request);
00367 return size;
00368 }
00369
00370 typedef boost::shared_ptr< ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> > Ptr;
00371 typedef boost::shared_ptr< ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> const> ConstPtr;
00372 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00373 };
00374 typedef ::head_monitor_msgs::PreplanHeadScanGoal_<std::allocator<void> > PreplanHeadScanGoal;
00375
00376 typedef boost::shared_ptr< ::head_monitor_msgs::PreplanHeadScanGoal> PreplanHeadScanGoalPtr;
00377 typedef boost::shared_ptr< ::head_monitor_msgs::PreplanHeadScanGoal const> PreplanHeadScanGoalConstPtr;
00378
00379
00380 template<typename ContainerAllocator>
00381 std::ostream& operator<<(std::ostream& s, const ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> & v)
00382 {
00383 ros::message_operations::Printer< ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> >::stream(s, "", v);
00384 return s;}
00385
00386 }
00387
00388 namespace ros
00389 {
00390 namespace message_traits
00391 {
00392 template<class ContainerAllocator> struct IsMessage< ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> > : public TrueType {};
00393 template<class ContainerAllocator> struct IsMessage< ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> const> : public TrueType {};
00394 template<class ContainerAllocator>
00395 struct MD5Sum< ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> > {
00396 static const char* value()
00397 {
00398 return "565652fd52e32966cc5c599108653bf9";
00399 }
00400
00401 static const char* value(const ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> &) { return value(); }
00402 static const uint64_t static_value1 = 0x565652fd52e32966ULL;
00403 static const uint64_t static_value2 = 0xcc5c599108653bf9ULL;
00404 };
00405
00406 template<class ContainerAllocator>
00407 struct DataType< ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> > {
00408 static const char* value()
00409 {
00410 return "head_monitor_msgs/PreplanHeadScanGoal";
00411 }
00412
00413 static const char* value(const ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> &) { return value(); }
00414 };
00415
00416 template<class ContainerAllocator>
00417 struct Definition< ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> > {
00418 static const char* value()
00419 {
00420 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00421 # The motion plan request\n\
00422 string group_name\n\
00423 string head_monitor_link\n\
00424 arm_navigation_msgs/MotionPlanRequest motion_plan_request\n\
00425 \n\
00426 ================================================================================\n\
00427 MSG: arm_navigation_msgs/MotionPlanRequest\n\
00428 # This service contains the definition for a request to the motion\n\
00429 # planner and the output it provides\n\
00430 \n\
00431 # Parameters for the workspace that the planner should work inside\n\
00432 arm_navigation_msgs/WorkspaceParameters workspace_parameters\n\
00433 \n\
00434 # Starting state updates. If certain joints should be considered\n\
00435 # at positions other than the current ones, these positions should\n\
00436 # be set here\n\
00437 arm_navigation_msgs/RobotState start_state\n\
00438 \n\
00439 # The goal state for the model to plan for. The goal is achieved\n\
00440 # if all constraints are satisfied\n\
00441 arm_navigation_msgs/Constraints goal_constraints\n\
00442 \n\
00443 # No state at any point along the path in the produced motion plan will violate these constraints\n\
00444 arm_navigation_msgs/Constraints path_constraints\n\
00445 \n\
00446 # The name of the motion planner to use. If no name is specified,\n\
00447 # a default motion planner will be used\n\
00448 string planner_id\n\
00449 \n\
00450 # The name of the group of joints on which this planner is operating\n\
00451 string group_name\n\
00452 \n\
00453 # The number of times this plan is to be computed. Shortest solution\n\
00454 # will be reported.\n\
00455 int32 num_planning_attempts\n\
00456 \n\
00457 # The maximum amount of time the motion planner is allowed to plan for\n\
00458 duration allowed_planning_time\n\
00459 \n\
00460 # An expected path duration (in seconds) along with an expected discretization of the path allows the planner to determine the discretization of the trajectory that it returns\n\
00461 duration expected_path_duration\n\
00462 duration expected_path_dt\n\
00463 \n\
00464 ================================================================================\n\
00465 MSG: arm_navigation_msgs/WorkspaceParameters\n\
00466 # This message contains a set of parameters useful in\n\
00467 # setting up the workspace for planning\n\
00468 arm_navigation_msgs/Shape workspace_region_shape\n\
00469 geometry_msgs/PoseStamped workspace_region_pose\n\
00470 \n\
00471 \n\
00472 ================================================================================\n\
00473 MSG: arm_navigation_msgs/Shape\n\
00474 byte SPHERE=0\n\
00475 byte BOX=1\n\
00476 byte CYLINDER=2\n\
00477 byte MESH=3\n\
00478 \n\
00479 byte type\n\
00480 \n\
00481 \n\
00482 #### define sphere, box, cylinder ####\n\
00483 # the origin of each shape is considered at the shape's center\n\
00484 \n\
00485 # for sphere\n\
00486 # radius := dimensions[0]\n\
00487 \n\
00488 # for cylinder\n\
00489 # radius := dimensions[0]\n\
00490 # length := dimensions[1]\n\
00491 # the length is along the Z axis\n\
00492 \n\
00493 # for box\n\
00494 # size_x := dimensions[0]\n\
00495 # size_y := dimensions[1]\n\
00496 # size_z := dimensions[2]\n\
00497 float64[] dimensions\n\
00498 \n\
00499 \n\
00500 #### define mesh ####\n\
00501 \n\
00502 # list of triangles; triangle k is defined by tre vertices located\n\
00503 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00504 int32[] triangles\n\
00505 geometry_msgs/Point[] vertices\n\
00506 \n\
00507 ================================================================================\n\
00508 MSG: geometry_msgs/Point\n\
00509 # This contains the position of a point in free space\n\
00510 float64 x\n\
00511 float64 y\n\
00512 float64 z\n\
00513 \n\
00514 ================================================================================\n\
00515 MSG: geometry_msgs/PoseStamped\n\
00516 # A Pose with reference coordinate frame and timestamp\n\
00517 Header header\n\
00518 Pose pose\n\
00519 \n\
00520 ================================================================================\n\
00521 MSG: std_msgs/Header\n\
00522 # Standard metadata for higher-level stamped data types.\n\
00523 # This is generally used to communicate timestamped data \n\
00524 # in a particular coordinate frame.\n\
00525 # \n\
00526 # sequence ID: consecutively increasing ID \n\
00527 uint32 seq\n\
00528 #Two-integer timestamp that is expressed as:\n\
00529 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00530 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00531 # time-handling sugar is provided by the client library\n\
00532 time stamp\n\
00533 #Frame this data is associated with\n\
00534 # 0: no frame\n\
00535 # 1: global frame\n\
00536 string frame_id\n\
00537 \n\
00538 ================================================================================\n\
00539 MSG: geometry_msgs/Pose\n\
00540 # A representation of pose in free space, composed of postion and orientation. \n\
00541 Point position\n\
00542 Quaternion orientation\n\
00543 \n\
00544 ================================================================================\n\
00545 MSG: geometry_msgs/Quaternion\n\
00546 # This represents an orientation in free space in quaternion form.\n\
00547 \n\
00548 float64 x\n\
00549 float64 y\n\
00550 float64 z\n\
00551 float64 w\n\
00552 \n\
00553 ================================================================================\n\
00554 MSG: arm_navigation_msgs/RobotState\n\
00555 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00556 sensor_msgs/JointState joint_state\n\
00557 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00558 \n\
00559 ================================================================================\n\
00560 MSG: sensor_msgs/JointState\n\
00561 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00562 #\n\
00563 # The state of each joint (revolute or prismatic) is defined by:\n\
00564 # * the position of the joint (rad or m),\n\
00565 # * the velocity of the joint (rad/s or m/s) and \n\
00566 # * the effort that is applied in the joint (Nm or N).\n\
00567 #\n\
00568 # Each joint is uniquely identified by its name\n\
00569 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00570 # in one message have to be recorded at the same time.\n\
00571 #\n\
00572 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00573 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00574 # effort associated with them, you can leave the effort array empty. \n\
00575 #\n\
00576 # All arrays in this message should have the same size, or be empty.\n\
00577 # This is the only way to uniquely associate the joint name with the correct\n\
00578 # states.\n\
00579 \n\
00580 \n\
00581 Header header\n\
00582 \n\
00583 string[] name\n\
00584 float64[] position\n\
00585 float64[] velocity\n\
00586 float64[] effort\n\
00587 \n\
00588 ================================================================================\n\
00589 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00590 #A representation of a multi-dof joint state\n\
00591 time stamp\n\
00592 string[] joint_names\n\
00593 string[] frame_ids\n\
00594 string[] child_frame_ids\n\
00595 geometry_msgs/Pose[] poses\n\
00596 \n\
00597 ================================================================================\n\
00598 MSG: arm_navigation_msgs/Constraints\n\
00599 # This message contains a list of motion planning constraints.\n\
00600 \n\
00601 arm_navigation_msgs/JointConstraint[] joint_constraints\n\
00602 arm_navigation_msgs/PositionConstraint[] position_constraints\n\
00603 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\
00604 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\
00605 \n\
00606 ================================================================================\n\
00607 MSG: arm_navigation_msgs/JointConstraint\n\
00608 # Constrain the position of a joint to be within a certain bound\n\
00609 string joint_name\n\
00610 \n\
00611 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
00612 float64 position\n\
00613 float64 tolerance_above\n\
00614 float64 tolerance_below\n\
00615 \n\
00616 # A weighting factor for this constraint\n\
00617 float64 weight\n\
00618 ================================================================================\n\
00619 MSG: arm_navigation_msgs/PositionConstraint\n\
00620 # This message contains the definition of a position constraint.\n\
00621 Header header\n\
00622 \n\
00623 # The robot link this constraint refers to\n\
00624 string link_name\n\
00625 \n\
00626 # The offset (in the link frame) for the target point on the link we are planning for\n\
00627 geometry_msgs/Point target_point_offset\n\
00628 \n\
00629 # The nominal/target position for the point we are planning for\n\
00630 geometry_msgs/Point position\n\
00631 \n\
00632 # The shape of the bounded region that constrains the position of the end-effector\n\
00633 # This region is always centered at the position defined above\n\
00634 arm_navigation_msgs/Shape constraint_region_shape\n\
00635 \n\
00636 # The orientation of the bounded region that constrains the position of the end-effector. \n\
00637 # This allows the specification of non-axis aligned constraints\n\
00638 geometry_msgs/Quaternion constraint_region_orientation\n\
00639 \n\
00640 # Constraint weighting factor - a weight for this constraint\n\
00641 float64 weight\n\
00642 \n\
00643 ================================================================================\n\
00644 MSG: arm_navigation_msgs/OrientationConstraint\n\
00645 # This message contains the definition of an orientation constraint.\n\
00646 Header header\n\
00647 \n\
00648 # The robot link this constraint refers to\n\
00649 string link_name\n\
00650 \n\
00651 # The type of the constraint\n\
00652 int32 type\n\
00653 int32 LINK_FRAME=0\n\
00654 int32 HEADER_FRAME=1\n\
00655 \n\
00656 # The desired orientation of the robot link specified as a quaternion\n\
00657 geometry_msgs/Quaternion orientation\n\
00658 \n\
00659 # optional RPY error tolerances specified if \n\
00660 float64 absolute_roll_tolerance\n\
00661 float64 absolute_pitch_tolerance\n\
00662 float64 absolute_yaw_tolerance\n\
00663 \n\
00664 # Constraint weighting factor - a weight for this constraint\n\
00665 float64 weight\n\
00666 \n\
00667 ================================================================================\n\
00668 MSG: arm_navigation_msgs/VisibilityConstraint\n\
00669 # This message contains the definition of a visibility constraint.\n\
00670 Header header\n\
00671 \n\
00672 # The point stamped target that needs to be kept within view of the sensor\n\
00673 geometry_msgs/PointStamped target\n\
00674 \n\
00675 # The local pose of the frame in which visibility is to be maintained\n\
00676 # The frame id should represent the robot link to which the sensor is attached\n\
00677 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\
00678 geometry_msgs/PoseStamped sensor_pose\n\
00679 \n\
00680 # The deviation (in radians) that will be tolerated\n\
00681 # Constraint error will be measured as the solid angle between the \n\
00682 # X axis of the frame defined above and the vector between the origin \n\
00683 # of the frame defined above and the target location\n\
00684 float64 absolute_tolerance\n\
00685 \n\
00686 \n\
00687 ================================================================================\n\
00688 MSG: geometry_msgs/PointStamped\n\
00689 # This represents a Point with reference coordinate frame and timestamp\n\
00690 Header header\n\
00691 Point point\n\
00692 \n\
00693 ";
00694 }
00695
00696 static const char* value(const ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> &) { return value(); }
00697 };
00698
00699 }
00700 }
00701
00702 namespace ros
00703 {
00704 namespace serialization
00705 {
00706
00707 template<class ContainerAllocator> struct Serializer< ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> >
00708 {
00709 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00710 {
00711 stream.next(m.group_name);
00712 stream.next(m.head_monitor_link);
00713 stream.next(m.motion_plan_request);
00714 }
00715
00716 ROS_DECLARE_ALLINONE_SERIALIZER;
00717 };
00718 }
00719 }
00720
00721 namespace ros
00722 {
00723 namespace message_operations
00724 {
00725
00726 template<class ContainerAllocator>
00727 struct Printer< ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> >
00728 {
00729 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> & v)
00730 {
00731 s << indent << "group_name: ";
00732 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.group_name);
00733 s << indent << "head_monitor_link: ";
00734 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.head_monitor_link);
00735 s << indent << "motion_plan_request: ";
00736 s << std::endl;
00737 Printer< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> >::stream(s, indent + " ", v.motion_plan_request);
00738 }
00739 };
00740
00741
00742 }
00743 }
00744
00745 #endif // HEAD_MONITOR_MSGS_MESSAGE_PREPLANHEADSCANGOAL_H
00746
